Motor control system



Nov. 14, 1950 w. J. FIELD 2,529,490

MOTORCONTROL SYSTEM Original Filed Dec. 50, 1945 MAI N CONTROLLER UN BALANCE vou'mr:

INVENTOR. WILLIAM J- HELD QORRECTWE o.c. VOLTAGE nrromrey Patented Nov. 14, 1950 MOTOR CONTROL SYSTEM William J. Field, Minneapolis, Minn., assignor to Minneapolis-Honeywell Regulator Company, Minneapolis, Minn, a corporation of Delaware Original application December 30, 1943, Serial No.

516,237. Divided and this application November 12, 1948, Serial No. 59,608

18 Claims.

The present invention is concerned with a motor control system and more particularly with one in which provision is made for quickly terminating operation of the motor, and is a divisional application of my application 516,237, filed December 30, 1943.

It is quite customary in certain motor control systems to control the energization of a motor in accordance with the value of a controlling condition. The motor is often used in such systems to position a condition controlling device and if the regulation of the condition is to be maintained as accurately as possible, it is desirable that the operation of the motor terminate quickly when the value of the condition is such as to no longer call for motor operation. Accordingly, various arrangements have been devised for quickly terminating the operation of the motor upon the value of the controlling condition being such that motor operation is no longer desired. In some cases, such braking arrangements have been in the form of mechanical brakes whether constantly applied or applied at the time of stopping of the motor. In other cases, auxiliary electrical windings have been employed for braking purposes.

It is an object of the present inventionzgto provide means for braking an alternating current motor without the use of auxiliary windings or mechanical devices. In general, this is accomplished by supplying direct current to one of the windings of the motor.

A further object of the present invention is to provide an alternating current motor control system in which the braking is accomplished by rectifying an alternating voltage applied to one of the windings so that the current flowing through the winding has a direct current component.

A further object of the invention is to provide a motor control system in which a motor is energized by a cyclically varying voltage having a unidirectional component and in which means is provided for continuously applying to the motor a unidirectional component of such polarity and magnitude as to cause the wave form of the cyclically varying voltage to approach the wave form of an alternating voltage, the unidirectional voltage being eifective when the cyclically varying voltage is substantially removed to cause a braking efi'ect.

A still further object of the invention is to provide generally a control system for controlling the energization of an alternating current operated device in which the energization of the de- 2 vice is controlled by an electronic rectifier and in which a unidirectional voltage is applied to the device to cause the wave form of the resulting voltage to approximate more nearly that of an alternating voltage.

Other objects of the present invention will be apparent from a consideration of the accompanying specification, claims, and drawings, of which:

Figure 1 is a schematic view of one modification of my control system,

Figure 2 is a schematic view of a modified, form of my control system, and

Figure 3 is a diagram indicating the eifect of a corrective unidirectional voltage that is employed in the systems of Figures 1 and 2.

Referring to Figure 1 of the drawing for a more detailed understanding of the invention. the reference numeral III is employed to indicate generally a split phase motor. This motor comprises a rotor II, preferably of the squirrel cage type. Associated with the rotor II are field windings I2 and I3. Y

A reference numeral [5. 1s employed to generally indicate a step-up-step-down transformer. The transformer I5 comprises a line voltage primary I6 which is connect'efito any suitable source of power (not shown) afhd a plurality of secondaries II, It, and I 5,], Secondary windings I8 and I9 are preferably higher voltage windings than the primary winding I6 while winding II is preferably a lower voltage winding.

The field winding I2 is connected to secondary winding I9 through conductors 2|, 22, and 23 and a condenser 24. The condenser 24 is connected in series with field winding I2, it will be noted, and serves to displace in phase the current flowing to field winding I2. The lower end of field winding I2 is connected to ground at H. A condenser 25 is connected in parallel with field winding I3. The energization of the field winding I3 and the parallel condenser 25 is controlled by the gas filled triode discharge devices |5II and lil. The discharge device I50 comprises a gas filled envelope in which is located an anode I52, a control grid I53 and a cathode I54, while discharge device I5I comprises a gas filled envelope in which is located a second anode I56, a control grid I55, and a cathode I51. It is to be understood that the cathodes can be of either the directly heated or indirectly heated type. In the particular case of tubes I50 and lil. the cathodes are of the indirectly heated type. Since the manner in which the cathodes are heated forms no part of the present invention, the arrangements for heating the cathodes will not be discussed in connection with tubes I50 and IN or any of the other electronic devices of this or the other of the two species. It is to be understood that in both of the species, the electronic devices are of the type employing hot cathodes although the invention is in no way limited to the use of such tubes.

The tubes I50 and II control the current flow through winding I3. The potential 01 grids I63 and I55 is in turn controlled by a normally balanced bridge generally indicated by the reference numeral 56. This bridge comprises two potentiometers 59 and 63. The potentiometer 59 constitutes the control potentiometer and comprises a resistance 60 and a contact arm 6| in slidable engagement with resistor 60. The position of contact arm 6| is controlled by a main controller schematically indicated in the drawing and designated by the reference numeral 62. The nature of the main controller 62 will depend upon the application of the motor control system. For example, the main controller may be a gyroscope if the rotor is to be used to control the rudder of an airplane. On the other hand, the main controller 62 may be a temperature responsive device if the motor control system is to be employed for the control of temperature.

The potentiometer 63 constitutes a follow up potentiometer. This potentiometer comprises a resistor 64 and a contact arm 65 in slidable engagement with the resistor 65. The contact arm 65 is secured to a shaft 66 associated with a controlled device 61. The controlled device is in turn connected by a shaft 68 to the rotor Ii. In the majority of cases, the controlled device will include a reduction gear train so that the speed at which the controlled device is driven will be considerably less than the rotor speed. The particular nature of the controlled device will again de pend upon the particular application of the motor control system. If the motor control system is employed in connection with an airplane control, the controlled device might be a rudder. On the other hand, in a temperature control system, the controlled device might be a steam valve, for example. In any event, the position of the contact arm 65 will depend upon the position of the controlled device 61.

The outer terminals of resistors 60 and 64 are connected together by conductors 51 and 58. The outer terminals of resistors 60 and 64 are further both connected by conductors 69 and to the terminals of secondary winding I1. Thus, an alternating voltage is constantly applied to the outer terminals of resistors 60 and 63. The contact arms 6| and 65 constitute the output terminals of the bridge andv the voltage existing between these two terminals is dependent upon the relative positions of the contact arms. The-output voltage of bridge 56 is applied to tubes I50 and |5l through a transformer I64 having a primary I66 connected to contact arms 6| and 65 through conductors 81 and 9| and asecondary, I65 having its upper terminal connected to the grids I53 and I55 of tubes I50 and I5I respectively through a conductor I63.

A pair of tubes I10 and "I are employed as rectifiers for supplying a corrective direct current. Each of the tubes I10 and I" is a vacuum type diode. Tube I10 comprises an anode I13 and a cathode I14. The tube I1I comprises an anode I and a cathode I16. 7

The diodes I10 and "I are also employed to supply a biasing potential to the grids I53 and I55 of tubes I50 and IN. This is accomplished through a resistor I11 and a condenser I18 connected in parallel with the resistance. Slidably engaged with resistor I11 Is a contact I19. The contact I19 is connected by conductor I8I with the terminal of secondary I opposite to the terminal to which grids I53 and I55 are connected.

Operation of species of Figure 1 the other of the triodes I50 or I5I will become more conductive and the other less conductive. As a result, an alternating current will fiow through winding I3. It is to be understood, however, that this alternating current is not a pure alternating current but rather a rectified alternating current. To a certain extent, the condenser 25 will round the portion of the current wave that would otherwise be flat. Nevertheless, the resulting wave still has a very pronounced direct current component which also serves to distort the wave form.

At all times a circuit may be traced from the secondary It through each of the diodes H0 and HI. The circuit through diode H0 is as follows: from the center terminal of secondary I9 through conductor 90, winding I3, ground connections 18 and Ti, conductor 16, conductor I84, resistor I11, conductors I and I86, anode I19, cathode I14, and conductors I81 and 15 to the upper terminal of secondary I8. During the opposite half cycle the current flows through diode |1I as follows: from the center tap of secondary I8, through conductor 80, motor winding I9, ground connections 18 and 11, conductor 16, conductor I04, resistor I11, conductors I85 and I88, anode I15, cathode I16, and conductors I and 8| to the lower terminal of secondary I6. It will be seen from the above that the two diodes I10 and HI act together as a full wave rectifier so that the current flowing through winding I3 and resistor I11 is a full wave rectified current. By reason of the condenser I18, much of the alternating current component of this full wave rectified direct current is filtered out so that the voltage across resistor I11 is substantially a unidirectional constant voltage. Furthermore, the current through winding I3 produced by the action of diodes I10 and "I is likewise substantially a direct current. be noted that this direct current is in a direction opposite to the current flow due to the rectifying action of the triodes I50 and I5I. The result is that the two direct current components tend to cancel each other out and produce a wave form more nearly that of an alternating current.

The action of the corrective unidirectional voltage is indicated diagrammatically in Fig. 3. In that figure, the rectified voltage applied to winding I3 is indicated by the light solid line I95. It will be noted that half of this line I consists of horizontal portion I96 due to the action of the rectifier. While there is some tend-- ency for condenser 25 to round these peaks, the

resulting voltage is still far from an alternating voltage; The dotted line I96 is employed to indicate the corrective unidirectional voltage that is applied by reason of the rectifying action 01' It will effect.

diodes I and "I. The heavy solid line I99 indicates the resulting voltage. It will be noted that the effect of the addition of the unidirectional voltage is to lower the peaks of the rectifled voltage and to add a corrective curved portion to the fiat portion due to rectification. As a result, the resulting potential is an alternating potential which is shifted only slightly from the zero axis. In other words, the unidirectional component is relatively small.

As soon as the system becomes balanced, the unidirectional voltage introduced by reason of rectifiers I10 and HI performs a new function. Upon the unbalance voltage disappearing, the unidirectional voltage introduced by reason of the rectifying action of the triodes I50 and I5I likewise disappears so that the only voltage which is applied to winding I3 is that indicated by the dotted line I98. As a result, the winding I3 is now energized by the unidirectional voltage which acts to produce a braking effect.

The direct current introduced by the action of rectifiers I10 and HI plays a two-fold purpose. During normal operation of the motor, the function of the direct current is to improve the wave form of the current flowing through winding I 3. This causes an increase in the speed of the motor. As soon as it is desired to terminate operation of the motor, the direct current then functions to produce a desirable braking efiect so as to result in the movement of the motor quickl being terminated.

The rectifiers I10 and "I have a still further As is previously noted, the circuit through these rectifiers to winding I3 includes the resistor I11. As also pointed out, the two rectifiers function to produce a substantially constant unidirectional voltage across resistor I11. This voltage is applied to bias the grids of tubes I50 and I5I. Since the tubes I50 and I5I are gas filled tubes, they are non-conductive when the system is balanced. For this reason, the tubes are unable to supply their own current for biasing the grids negatively. It is to be noted that the connection between grids I53 and I55 and cathodes I54 and I51 includes not only secondary I65 but that portion of resistor I11 to the right of contact I19. As a result, the voltage applied to grids I53 and I55 not only includes the signal voltage but also a voltage of such polarity as to tend to bias the grids I53 and I 55 negatively by an amount determined by the position of slider I19.

It will be seen that in the present species, I have provided an arrangement whereby the means for supplying the braking action upon termination of the operation of the motor also functions to improve the operation of the motor by correcting the wave form of the current applied to the motor windings. It will also be seen that the means for supplying the direct current to improve the operation of the motor and to provide a braking action also provides means for biasing the grids of the controlling electronic device negatively so that it is possible to use for this purpose gas filled tubes.

Species of Figure 2 The species of Figure 2 is very similar to that of Figure 1 in that direct current is supplied to winding I3 to correct for the direct current component introduced by reason of the action of the controlling discharge device. The principal difference between the two figures is that a vacuum type triode 26 is employed in lieu of the gas filled tubes I50 and I5I.

Tube 26 comprises an envelope 21 which houses a pair of triodes, the tube being of the double triode type. A first of these triodes comprises an anode 28, a control grid 29, and a cathode 30. The cathode 30 is a double cathode and is associated with both triodes. The second triode com- 1;;ises the cathode 30, a grid 3|, and an anode A resistor 33 and a condenser 34 are connected in parallel with each other and in series with the cathode. The resistor and condenser function to bias the grids 29 and 3|. Because a vacuum type triode is used, it is possible for the tube to supply its own bias by reason of the resistor 33 and condenser 34. Consequently, the tubes I10 and I" do not function as in the species of Figure 1 to supply biasing potential for the tube 26.

Referring to the drawing, the reference numeral 200 is employed to indicate a load resistor which is connected by conductor I to the junction of conductors I86 and I88 leading to the two anodes I13 and I15. The right hand terminal of resistor 200 is connected to ground at 20L This right hand terminal is connected through the ground connection 20I and a ground connection 202 to the lower terminal of secondary I65 of the coupling transformer I64.

In the present species, the following circuits exist to winding I3 and the diodes I10 and "I. In the first place, a circuit exists from the midpoint of secondary I8 through conductor 80, winding I3, ground connections 18 andv 20I, resistor 200, conductors I85 and I86, anode I13, cathode I14, and conductors I81 and 15 to the upper terminal of secondary I8. The following circuit also exists through diode I: from the center tap of secondary I8 through conductor '80, field winding I3, ground connections 18 and 2!, resistor 200, conductors I85 and I88, anode I15, cathode I16, and conductors I90 and 8| to the lower terminal of secondary I 8.

It will be seen from the above that the circuits through diodes I10 and HI correspond identically with the equivalent circuits in Figure l with the exception that instead of the resistor I11, a resistance 200 is located in the circuits through the two diodes, this resistance constituting the load resistor. As with the species of Figure 1, the D. C. component introduced into the current flowing through winding I3 by reason of diodes I10 and "I is opposite in direction to the D. C. component of the current introduced by reason of the action of rectifier 26.

Furthermore, this current functions as soon as the control bridge is rebalanced to cause a braking action so as to quickly terminate movement of the rotor I I.

While I have shown certain specific embodiments of my invention, it is to be understood that this is for purposes of illustration only and that the scope of the invention is to be limited solely by the scope of the appended claims.

I claim as my invention:

1. In a motor control system, an alternating current motor having a field winding, means for selectively applying to said winding a cyclically varying voltage of variable magnitude having a direct voltage component, and means for continuously applying to said winding a unidirectional voltage opposing in polarity the direct voltage component of the cyclically varying voltage so as to cause the wave form of said cyclically varying voltage to approach the wave form of an alternating voltage, said unidirectional voltage being efiective when said cyclically varying voltage is reduced beyond a predetermined value to cause a braking effect.

2. In a motor control system, an alternatin current motor having a field winding, normally balanced control means, means for applying to said winding a cyclically varying voltage having a unidirectional component, means whereby the magnitude of said voltage is dependent upon the extent of unbalance of said control means, and means for continuously applying to said winding a unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage, said unidirectional voltage being effective when said control means is balanced to cause a braking eflect.

3. In a motor control system; an alternating current motor having a field winding, normally balanced control means, a source of alternating voltage, means including an electronic discharge device for applying from said source to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge device, means whereby the magnitude of said voltage is dependent upon the extent of unbalance of said control means, and means including an electronic rectifier connected to said source for continuously applying to said winding a unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage and which creates a braking effect when said control means is balanced.

4. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including a gas filled electronic discharge device for applying to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge device, said discharge device havinga control element, means for varying the potential applied to said control element in accordance with the unbalance of said control means so that the magnitude of said cyclically varying voltage is dependent upon the extent of unbalance of said control means, means for producing a unidirectional voltage, means for applying a portion of said unidirectional voltage to said control element to bias the same, and means for continuously applying to said winding a difierent portion of said unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage and which creates a braking eflect when said control means is balanced.

5. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including a vacuum type electronic discharge device for applying to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge device, means whereby the magnitude of said voltage is dependent upon the extent of unbalance of said control means, and means including an electronic rectifier for continuously applying to said winding a unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage and which creates a braking effect when said control means is balanced.

6. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including an electronic discharge device for applying to said winding a cyclically varying voltage having a unidirecof said discharge device, said discharge'device having a control element, means for varying the potential applied to said control element in accordance with the unbalance of said control means so that the magnitude of said cyclically varying voltage is dependent upon the extent of unbalance of said control means, and means for continuously applying to said winding a unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage and which creates a braking eflect when said control means is balanced, said last named means comprising an electronic rectifier connected in parallel with but opposite to said electronic discharge device.

7. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including a gas filled electronic discharge device for applying to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge device, said discharge device having a control element, means for varying the potential applied to said control element in accordance with the unbalance of said control means so that the magnitude oi said cyclically varying voltage is dependent upon the extent of unbalance of said control means, means for producing a unidirectional voltage, means for applying a portion ofsaid unidirectional voltage to said control element to bias the same, and means for continuously applying to said winding a different portion of said unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage such as to improve the operation of the motor when power is applied thereto.

8. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including a gas filled electronic discharge device for applying to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge device, said discharge device having a control element, means for varying the potential applied to said control element in accordance with the unbalance of said control means sothat the magnitude of said cyclically varying voltage is dependent upon the extent of unbalance of said control means, means for producing a unidirectional voltage, means for applying a portion of said unidirectional voltage to said control element to bias the same, and means for continuously applying to said winding a different portion of said unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage such as to improve the operation of the motor when power is applied thereto and which creates a braking effect when said cyclically varying voltage is reduced tazero.

9. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including a vacuum type electronic discharge device for applying to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge device, means whereby the magnitude of said voltage is dependent upon the extent of unbalance of said control means, and means including an electronic rectifier for continuously applying to said winding a unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage such as to improve the operation of the motor when power is applied thereto.

10. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including a vacuum type electronic discharge device for applying to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge device, means whereby the magnitude of said voltage is dependent upon the extent of unbalance of said control means, and means including an electronic rectifier for continuously applying to said winding a unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage such as to improve the operation of the motor when power is applied thereto, and which creates a braking effect when said cyclically varying voltage is reduced to zero.

11. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including an electronic discharge device for applying to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge device, said discharge device having a control element, means for varying the potential applied to said control element in accordance with the unbalance of said control means so that the magnitude of said cyclically varying voltage is dependent upon the extent of unbalance of said control means, and means for continuously applying to said winding a cyclically varying unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage such as to improve the operation of the motor when power is applied thereto.

12. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including an electronic discharge device for applying to said winding a first cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge device, said discharge device having a control element, means for varying the potential applied to said control element in accordance with the unbalance of said control means so that the magnitude of said cyclically varying voltage is dependent upon the extent of unbalance of said control means, and means for continuously applying to said winding a second cyclically varying unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage such as to improve the operation of the motor when power is applied thereto and which creates a braking effect when said first cyclically varying voltage is reduced to zero.

13. In a motor control system, in combination: an alternating current motor; means for controlling the application of power from a source of alternating power to said motor, said means including an electronic rectifier having a control electrode and which operates to supply a rectified alternating voltage to said motor in accordance with the potential of said control electrode, said rectified voltage having a desirable alternating voltage component and an undesirable direct voltage component; and means for applying to said motor a unidirectional voltage opposing in polarity said direct voltage component and of such magnitude as to substantially neutralize the direct voltage component and which creates a braking eflect when the power applied to said motor is reduced to zero.

14. In a motor control system, in combination: an alternating current motor; means for controlling the application of power from a source of alternating power to said motor, said means including an electronic rectifier having a control electrode and which operates to supply a rectified alternating voltage to said motor in accordance with the potential of said control electrode, said rectified voltage having a desirable alternating voltage component and an undesirable direct voltage component; and means for applying to said motor a unidirectional voltage opposing in polarity said direct voltage component and of such magnitude as to substantially neutralize the direct voltage component so as to improve the operation of the motor when power is applied thereto.

15. In a motor control system, in combination: an alternating current motor; means for controlling the application of power from a source of alternating power to said motor, said means including an electronic rectifier having a control electrode and which operates to supply a rectified alternating voltage to said motor in accordance with the potential of said control electrode, said rectified voltage having a desirable alternating voltage component and an undesirable direct voltage component; and means for applying to said motor a unidirectional voltage opposing in polarity said direct voltage component and of such magnitude as to substantially neutralize the direct voltage component so as to improve the operation of the motor when power is applied thereto and which creates a braking effect when the power applied to said motor is reduced to zero.

16. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including a first and a second electronic discharge device for ap plying to said winding a first cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge devices, said discharge devices each having a control element, means electrically connecting said control elements together, means for varying the potential applied to said control elements in accordance with the unbalance of said control means so that the magnitude and polarity of said cyclically varying voltage is dependent upon the extent and direction of unbalance of said control means, and means for continuously applying to said winding a second cyclically varying unidirectional voltage opposing in polarity the unidirectional component of said cyclically varying voltage such as to improve the operation of the motor when power is applied-thereto and which creates a braking efiectwhen said first cyclically varying voltage is reduced to zero.

17. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including a first and a second gas filled electronic discharge device for applying to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties of said discharge devices, said discharge devices each having a control element, means electrically connecting said control elements together, means for varying the potential applied to said control elements in 3.0-? cordance with the unbalance of said control means so that the magnitude and polarity of said cyclically varying voltage is dependent upon the extent and direction of unbalance of said control means, means for producing a unidirectional voltage, means for applying a portion of said unidirectional voltage to saidcontrol elements to bias the same, and means for continuously applying to said winding a different portion of said unidirectional voltage opposing in polarity the unidirection component 01' said cyclically varying voltage such as to improve the operation 01' the nnito r/when power is applied thereto and which creates a braking effect when said cyclically varying voltage is reduced to zero.

18. In a motor control system, an alternating current motor having a field winding, normally balanced control means, means including a first and a second vacuum type electronic discharge device for applying to said winding a cyclically varying voltage having a unidirectional component due to the rectifying properties oi said and polarity of said voltage is dependent upon the magnitude and direction oi unbalance oi said control means, and means including a first and a second electronic rectifier for continuously applyin to said winding a unidirectional voltage opposing in polarity the unidirectional component oi. said cyclically varying, voltage such as to improve the operation of the motor when power is appliedthereto, and which creates a braking eilect when said cyclically varying voltage is re- 

